Surgical end effectors and pulley assemblies thereof

ABSTRACT

An end effector of a surgical tool includes a first jaw and a second jaw rotated by a driving pulley. A first driven pulley is attached to the first jaw and a second driven pulley is attached to the second jaw. A first end portion of a first cable is connected to a first radial side of the first driven pulley, a second end portion of the first cable is connected to a second radial side of the second driven pulley, and an intermediate portion of the first cable is connected to the driving pulley. A first end portion of a second cable is connected to a first radial side of the second driven pulley, a second end portion of the second cable is connected to a second radial side of the first driven pulley, and an intermediate portion of the second cable is connected to the driving pulley.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a Continuation Application which claims the benefitof and priority to U.S. patent application Ser. No. 15/116,339, filed onAug. 3, 2016, which is a U.S. National Stage Application filed under 35U.S.C. § 371(a) of International Patent Application Ser. No.PCT/US2014/064006, filed Nov. 5, 2014, which claims the benefit of eachof U.S. Provisional patent application Ser. No. 61/938,732, filed Feb.12, 2014, and U.S. Provisional patent application Ser. No. 61/938,728,filed Feb. 12, 2014, the entire disclosure of each of which areincorporated by reference herein.

BACKGROUND

Robotic surgical systems have been used in minimally invasive medicalprocedures. Some robotic surgical systems included a console supportinga robot arm, and at least one end effector such as forceps or a graspingtool including jaws for capturing tissue therebetween. The at least oneend effector was mounted to the robot arm. During a medical procedure,the end effector was inserted into a small incision (via a cannula) or anatural orifice of a patient to position the end effector at a work sitewithin the body of the patient.

Cables extended from the console, through the robot arm, and connectedto the end effector. In some instances, the cables were actuated bymeans of motors that were controlled by a processing system including auser interface for a surgeon or clinician to be able to control therobotic surgical system including the robot arm and/or the end effector.The cables connected to a pulley assembly that transferred torque todrive the actuation of the end effector.

In some instances, surgical procedures may require fine control of theend effector to grasp tissue for dissection and/or to spread tissuesurfaces for deep tissue access. Accordingly, there is a need forsurgical tools that are able to provide precisely controlled forcesapplied by jaws of an end effector of a robotic surgical system.

SUMMARY

Jaws at the end of surgical robotics tools, such as forceps or scissorcutting tools, may be driven by a pulley assembly including pulleys andcables. Methods for actuating an end effector at the end of the jaws areprovided in some embodiments. Some methods may include rotating adriving pulley in an end effector of a surgical tool in a firstdirection about a first axis to open a first jaw and a second jaw, eachbeing pivotable about a second axis.

The end effector may include a first driven pulley attached to the firstjaw and a second driven pulley attached to the second jaw. The first andsecond driven pulleys may be rotatable about the second axis. Eachdriven pulley may include a first radial side and a second radial side.A first cable may have a first end portion, a second end portion, and anintermediate portion. The first end portion may be connected to thefirst radial side of the first driven pulley. The second end portion maybe connected to the second radial side of the second driven pulley. Theintermediate portion may be connected to the driving pulley.

The second cable may have a first end portion, a second end portion, andan intermediate portion. The first end portion may be connected to thefirst radial side of the second driven pulley. The second end portionmay be connected to the second radial side of the first driven pulley.The intermediate portion may be connected to the driving pulley.Rotating the driving pulley in a second direction about the first axismay close the first and second jaws about the second axis.

The first and the second driven pulleys may be rotated via the firstcable responsive to rotating the driving pulley in the first direction.The first and the second driven pulleys may be rotated via the secondcable responsive to rotating the driving pulley in the second direction.The first cable may be tensioned and the second cable may be slackenedduring rotation of the driving pulley in the first direction. The secondcable may be tensioned and the first cable may be slackened duringrotation of the driving pulley in the second direction.

The intermediate portions of the first and second cables may beconnected to a common point of the driving pulley. In some instances,the intermediate portions of the first and second cables may be crimpedto the driving pulley.

The first end portion of the first cable may be parallel to the secondend portion of the second cable. The first end portion of the secondcable may be crossed with the second end portion of the first cable.

In some instances, a proximal end of the first jaw may be fixedlyattached to a circumferential edge of the first drive pulley and aproximal end of the second jaw may be fixedly attached to acircumferential edge of the second drive pulley. A toothed portion maybe created in the first and the second jaws.

The first axis may be spaced a lateral distance from the second axis.The first and second cables may be connected to the driving pulley at alocation offset a radial distance from the second axis. The intermediateportions of the first and second cables may be looped through an anchormember on the driving pulley. A hook may be attached to acircumferential edge of the driving pulley.

In some instances, a method may include coupling a plurality of cablesections to a plurality of jaw pulleys with at least one cable sectioncoupled to each of at least two radial sides of each jaw pulley. Eachjaw pulley may be connected to a corresponding jaw. Each of the cablesections may be also be coupled to a driving pulley. The driving pulleymay be rotated in a first and a second direction to rotate each of thejaw pulleys and at least one of open and close the jaws. Rotating thedriving pulley in the first direction may create a tension in adifferent cable section coupled to each jaw pulley than rotating thedriving pulley in the second direction.

Each of the cable sections may be separate cables or at least two of thecable sections may be part of a single continuous cable. A first segmentof a first cable section of a continuous cable including at least two ofthe plurality of cable sections may be coupled to a radial side of afirst jaw pulley. A second segment of the first cable section may becoupled to the driving pulley. A first segment of a second cable sectionof the continuous cable may be coupled to the driving pulley. A secondsegment of the second cable section may be coupled to a different radialside of the second jaw pulley.

A single segment of the continuous cable may be coupled to the drivingpulley when the second segment of the first cable section coincides withthe first segment of the second cable section. At least two segments ofthe continuous cable may be coupled to the driving pulley when thesecond segment of the first cable section does not coincide with thefirst segment of the second cable section.

In some instances a first segment of a first cable section of acontinuous cable including at least two of the plurality of cablesections may be coupled to a radial side of a first jaw pulley. A secondsegment of the first cable section may be coupled to the driving pulley.A first segment of a second cable section of the continuous cable may becoupled to the driving pulley. A second segment of the second cablesection may be coupled to a different radial side of the first jawpulley. A single segment of the continuous cable may be coupled to thedriving pulley when the second segment of the first cable sectioncoincides with the first segment of the second cable section.

Further details and aspects of exemplary embodiments of the presentdisclosure are described in more detail below with reference to theappended figures.

As used herein, the terms parallel and perpendicular are understood toinclude relative configurations that are substantially parallel andsubstantially perpendicular, such as up to about + or −10 degrees fromtrue parallel and true perpendicular.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present disclosure are described herein withreference to the accompanying drawings, wherein:

FIG. 1A is a schematic illustration of a medical work station andoperating console in accordance with the present disclosure;

FIG. 1B is a schematic, perspective view of a motor of a control deviceof the medical work station of FIG. 1A, having a cable connectedthereto;

FIG. 2 is a schematic plan view, with parts separated, of a surgical endeffector, according to an embodiment of the present disclosure,illustrating jaws and a pulley assembly thereof;

FIG. 3A is a perspective view of the pulley assembly of the end effectorshown in FIG. 2;

FIG. 3B is a perspective view of an alternate pulley assembly to thatshown in FIG. 3A;

FIG. 4 is a perspective, cutaway view of the end effector shown in FIG.2 with the jaws disposed in a closed configuration;

FIG. 5 is a perspective, cutaway view of the end effector shown in FIG.2 with the jaws disposed in an open configuration; and

FIG. 6 is a schematic plan view, with parts separated, of a surgical endeffector, according to another embodiment of the present disclosure,illustrating jaws and a pulley assembly thereof.

DETAILED DESCRIPTION

Embodiments of the presently disclosed surgical end effectors andmethods of actuating the same are described in detail with reference tothe drawings, in which like reference numerals designate identical orcorresponding elements in each of the several views. As used herein theterm “distal” refers to that portion of the jaws and/or pulley assemblythat is closer to a surgical site, while the term “proximal” refers tothat portion of the jaws and/or pulley assembly that is farther from thesurgical site.

Referring initially to FIGS. 1A and 1B, a medical work station is showngenerally as work station 1 and may include one or more robot arms 2, 3;a control device 4; and an operating console 5 coupled with controldevice 4. Operating console 5 includes a display device 6, which is setup in particular to display three-dimensional images and/or video; andmanual input devices 7, 8, by means of which a person (not shown), forexample a surgeon, is able to telemanipulate robot arms 2, 3 in a firstoperating mode, as known in principle to a person skilled in the art.

Each of the robot arms 2, 3 includes an attaching device 9, 11, to whichmay be attached, for example, a surgical tool “ST” supporting an endeffector 100, in accordance with any one of several embodimentsdisclosed herein, as will be described in greater detail below.

Robot arms 2, 3 may be driven by electric drives (not shown) that areconnected to control device 4. Control device 4 (e.g., a computer) isset up to activate the drives, in particular by means of a computerprogram, in such a way that robot arms 2, 3, their attaching devices 9,11 and thus the surgical tool (including end effector 100) execute adesired movement according to a movement defined by means of manualinput devices 7, 8. Control device 4 may also be set up in such a waythat it regulates the movement of robot arms 2, 3 and/or of the drives.

Medical work station 1 is configured for use on a patient 13 lying on apatient table 12 to be treated in a minimally invasive manner by meansof end effector 100. Medical work station 1 may also include one or morerobot arms 2, 3, the additional robot arms likewise being connected tocontrol device 4 and being telemanipulatable by means of operatingconsole 5. A medical instrument or surgical tool (including an endeffector 100) may also be attached to the additional robot arm. Medicalwork station 1 may include a database 14, in particular coupled to withcontrol device 4, in which are stored for example pre-operative datafrom patient 13 and/or anatomical atlases.

Reference may be made to U.S. Patent Publication No. 2012/0116416, filedon Nov. 3, 2011 (now U.S. Pat. No. 8,828,023), entitled “MedicalWorkstation,” the entire content of which is incorporated herein byreference, for a detailed discussion of the construction and operationof medical work station 1.

Control device 4 may control a plurality of motors (Motor 1 . . . n)with each motor configured to wind-up or let out a length of cable “C”(FIG. 1B) extending to end effector 100 of the surgical tool. The distalend of each cable “C” is wrapped around a driving pulley 140 of endeffector 100 in the manner of a capstan to drive a rotation of drivingpulley 140 as shown, for example, in FIG. 2. In use, as cables “C” arewound-up and let out, cables “C” effect operation and/or movement ofeach end effector 100 of the surgical tool via pulley assembly 120, asdescribed in further detail herein below. It is contemplated thatcontrol device 4 coordinates the activation of the various motors (Motor1 . . . n) to coordinate a winding-up or letting out a length of arespective cable “C” in order to coordinate an operation and/or movementof a respective end effector. Although FIG. 1B shows a single cable “C”that is wound up or let out by a single motor, in some instances two ormore cables or two ends of a single cable may be wound up or let out bya single motor. For example, in some instances, two cables or cable endsmay be coupled in opposite directions to a single motor so that as themotor is activated in a first direction, one of the cables winds upwhile the other cable lets out. Other cable configurations may be usedin different embodiments.

Turning now to FIGS. 2-5, an end effector in accordance with anembodiment of the present disclosure is generally designated as 100. Endeffector 100 includes a first jaw 102 a and a second jaw 102 b. Firstand second jaws 102 a, 102 b are each rotatable or pivotable relative toone another. Each jaw 102 a, 102 b has a respective proximal end 104 a,104 b and a respective distal end 106 a, 106 b. Each proximal end 104 a,104 b is fixedly attached to first and second driven pulleys 122 a, 122b, respectively, as described in further detail herein below. Eachproximal end 104 a, 104 b of jaws 102 a, 102 b can be integrallyconnected to and/or monolithically formed with a circumferential edge ofdriven pulleys 122 a, 122 b, respectively. Each distal end 106 a, 106 bof jaws 102 a, 102 b defines a respective grip or toothed portion 108 a,108 b in juxtaposed relation to one another. In use, as will bedescribed in greater detail below, as driving pulley 140 is rotated inone of a clockwise and counter clockwise direction, jaws 102 a, 102 bwill be caused to rotate, moving jaws 102 a, 102 b from a first, openconfiguration in which jaws 102 a, 102 b may receive tissue therebetweento a second, closed configuration in which jaws 102 a, 102 b may grasptissue.

End effector 100 includes a pulley assembly 120 disposed therein foractuating jaws 102 a, 102 b of end effector 100. Pulley assembly 120includes a first driven pulley 122 a, a second driven pulley 122 b, adriving pulley 140, a first cable “C1,” and a second cable “C2.” In FIG.3A, cables C1 and C2 are each continuous cables that may have differentcable sections, such as section S1 on cable C1 running from anchormember 180 a on driven pulley 122 a to anchor member 150 on drivingpulley 140 and section S2 on cable C1 running from anchor member 150 toanchor member 180 b on driven pulley 122 b. Cable C2 may include cablesections S3 running from anchor member 182 b on driven pulley 122 a toanchor member 150 and section S4 running from anchor member 150 toanchor member 182 a on driven pulley 122 b.

In another embodiment that is a variation of that shown in FIG. 3A,cables C1 and C2 may also be continuous cables that may be attached topulleys 122 a, 122 b, and 140 in a different manner. For example,continuous cable C1 may include a first section running from anchormember 180 a on driven pulley 122 a to anchor member 150 on drivingpulley 140 (similar to section S1 in FIG. 3A) and a second sectionrunning from anchor member 150 to anchor member 182 a on driven pulley122 b (similar to section S4 in FIG. 3A). Continuous cable C2 mayinclude a first section running from anchor member 180 b on drivenpulley 122 b to anchor member 150 (similar to section S2 in FIG. 3A) anda second section running from anchor member 150 to anchor member 182 bon driven pulley 122 a (similar to section S3 in FIG. 3A).

This configuration may result in a tensioning of a first section ofcables C1 and C2 during a rotation of the driving pulley 140 in a firstdirection as well as a slacking of the other second section of cables C1and C2. A tensioning of the second sections of cables C1 and C2 and aslacking of the first sections of cables C1 and C2 may occur whenrotating the driving pulley 140 in the opposite direction. Other cableroutings may be possible in different embodiments.

FIG. 3B shows another embodiment in which continuous cables C1 and C2are replaced with four non-continuous sections of cable S5 to S8. InFIG. 3B, cable section S5 runs from anchor member 180 a on driven pulley122 a to anchor member 151 on driving pulley 140. Cable section S6 runsfrom a different anchor member 152 on driving pulley 140 to anchormember 180 b on driven pulley 122 b. Cable section S7 runs from anchormember 182 b on driven pulley 122 a to anchor member 153 on drivingpulley 140. Cable section S8 runs from anchor member 153 on drivingpulley 140 to anchor member 182 a on driven pulley 122 b. Cables and/orcable sections may be connected to the same or different anchor memberson the driving pulley 140 in different embodiments.

In embodiments, jaws 102 a, 102 b may be detachably engaged to drivenpulleys 122 a, 122 b via a hinge, clips, buttons, adhesives, ferrule,snap-fit, threaded, and/or other engagement.

Each driven pulley 122 a, 122 b has a central opening 124 a, 124 bformed therein configured for disposal or receipt of a pivot pin (notshown) therein. Central openings 124 a, 124 b of each driven pulley 122a, 122 b are in coaxial alignment with one another. A first axis “X1”extends through central openings 124 a, 124 b of first and second drivenpulleys 122 a, 122 b. First and second driven pulleys 122 a, 122 b aredisposed adjacent to one another and are rotatable relative to oneanother about first axis “X1.” In some embodiments, driven pulleys 122a, 122 b may be in abutting relation to one another or in spaced apartrelation to one another, along first axis “X1.” As mentioned above,first driven pulley 122 a supports jaw 102 a and second driven pulley122 b supports jaw 102 b such that jaws 102 a, 102 b rotate with drivenpulleys 122 a, 122 b about first axis “X1.”

Driven pulleys 122 a, 122 b have a circular configuration and eachdefine a circumferential edge 126 a, 126 b. Circumferential edges 126 a,126 b each define an arcuate channel or groove 128 a, 128 b extendingalong a circumference of each driven pulley 122 a, 122 b. Channel orgroove 128 a, 128 b is configured for receipt of one of cables “C1,”“C2,” as described in further detail herein below. In embodiments,driven pulleys 122 a, 122 b are variously configured, such as, forexample, oval, oblong, tapered, arcuate, uniform, non-uniform and/orvariable.

First driven pulley 122 a includes a first radial side 130 a and asecond radial side 132 a each defining a semicircular portion of firstdriven pulley 122 a, as demarcated by dotted line “L1” in FIG. 2. Firstand second radial sides 130 a, 132 a each include one-half ofcircumferential edge 126 a of first driven pulley 122 a. Second drivenpulley 122 b includes a first radial side 130 b and a second radial side132 b each defining a semicircular portion of second driven pulley 122b, as demarcated by dotted line “L2” in FIG. 2. First and second radialsides 130 b, 132 b of second driven pulley 122 b include one-half ofcircumferential edge 126 b of second driven pulley 122 b.

Pulley assembly 120 further includes a driving pulley 140, similar tofirst and second driven pulleys 122 a, 122 b described herein above.Driving pulley 140 is spaced a lateral distance from first and seconddriven pulleys 122 a, 122 b. Cable “C,” connected to motor (Motor 1 . .. n), may be wrapped at least once around driving pulley 140, in themanner of a capstan so as to not interfere with first and second cables“C1,” “C2.” Driving pulley 140 includes a central opening 141 formedtherein. A second axis “X2” passes through central opening 141, isspaced a lateral distance from first axis “X1,” and may run parallel tofirst axis “X1” in some instances. In other instances, the second axis“X2” may be offset from the first axis “X1” so that it runs at othernon-parallel angles to the first axis “X1,” such as perpendicular to thefirst axis.

Driving pulley 140 has a circular configuration and defines acircumferential edge 142. Circumferential edge 142 defines an arcuatechannel or groove 144 extending along a circumference of driving pulley140. Channel or groove 144 is configured for disposal of each of cables“C1,” “C2.” Driving pulley 140 includes a first radial side 146 and asecond radial side 148 each defining a semicircular portion of drivingpulley 140, as demarcated by dotted line “L3” in FIG. 2. First andsecond radial sides 146, 148 each include one-half of circumferentialedge 142 of driving pulley 140.

Driving pulley 140 supports an anchor member 150 attached to aproximal-most portion of circumferential edge 142. Anchor member 150secures both cables “C1,” “C2” to drive pulley 140 such that, as drivingpulley 140 is rotated, cables “C1,” “C2” move therewith. In embodiments,anchor member 150 may be a hook onto which cables “C1,” “C2” areattached. In other embodiments, anchor member 150 may be a crimp thatsecures cables “C1,” “C2” to circumferential edge 142 of driving pulley140.

In use, a rotation of driving pulley 140 about second axis “X2” viamotor (Motor 1 . . . n) and cable “C” causes first and second drivenpulleys 122 a, 122 b to rotate, via cables “C1,” “C2,” in opposingdirections about first axis “X1” to open or close first and second jaws102 a, 102 b, which are attached thereto.

Pulley assembly 120 may further includes a first cable “C1” and a secondcable “C2.” First cable “C1” and second cable “C2” each have a first endportion 160 a, 160 b, a second end portion 162 a, 162 b, and anintermediate portion or looped portion 164 a, 164 b. First and secondcables “C1,” “C2” are connected to first and second driven pulleys 122a, 122 b and driving pulley 140 such that first end portion 160 a offirst cable “C1” and second end portion 162 b of second cable “C2” aresubstantially parallel, and first end portion 160 b of second cable “C2”and second end portion 162 a of first cable “C1” cross, as shown inFIGS. 2-5.

First cable “C1” is secured by anchor member 150 of driving pulley 140to a proximal-most portion of circumferential edge 142 of driving pulley140 such that intermediate portion or looped portion 164 a of firstcable “C1” is fixedly engaged with a portion of circumferential edge 142of driving pulley 140. Intermediate portion or looped portion 164 a offirst cable “C1” is connected to driving pulley 140 at a locationoff-set a radial distance from second axis “X2.”

First end portion 160 a of first cable “C1” is connected to a portion ofcircumferential edge 126 a of first driven pulley 122 a that is disposedon first radial side 130 a of first driven pulley 122 a. Second endportion 162 a of first cable “C1” is connected to a portion ofcircumferential edge 126 b of second driven pulley 122 b that isdisposed on second radial side 132 b of second driven pulley 122 b.

First end portion 160 a of first cable “C1” is connected to first radialside 130 a of first driven pulley 122 a via an anchor member 180 a.Second end portion 162 a of first cable “C1” is connected to secondradial side 132 b of second driven pulley 122 b via an anchor member 180b. Anchor members 180 a, 180 b are similar to anchor member 150described above. Each anchor member 150, 180 a, 180 b can be the same ormay be different. In this way, intermediate portion or looped portion164 a of first cable “C1” is wrapped around only first radial side 146of driving pulley 140, as shown in FIGS. 3A, 4, and 5.

Second cable “C2” is secured by anchor member 150 of driving pulley 140to a proximal-most portion of circumferential edge 142 of driving pulley140 such that intermediate portion or looped portion 164 b of secondcable “C2” is fixedly engaged with a portion of circumferential edge 142of driving pulley 140. Intermediate portion or looped portion 164 b ofsecond cable “C2” is connected to driving pulley 140 at a locationoff-set a radial distance from second axis “X2.” In this way,intermediate portions or looped portions 164 a, 164 b of first andsecond cables “C1,” “C2” are connected to a common point of drivingpulley 140.

First end portion 160 b of second cable “C2” is connected to a portionof circumferential edge 126 b of second driven pulley 122 b that isdisposed on first radial side 130 b of second driven pulley 122 b.Second end portion 162 b of second cable “C2” is connected to a portionof circumferential edge 126 a of first driven pulley 122 a that isdisposed on second radial side 132 a of first driven pulley 122 a.

First end portion 160 b of second cable “C2” is connected to firstradial side 130 b of second driven pulley 122 b via an anchor member 182a. Second end portion 162 b of second cable “C2” is connected to secondradial side 132 a of first driven pulley 122 a via an anchor member 182b. Anchor members 182 a, 182 b are similar to anchor member 150described above. In this way, intermediate portion 164 b of second cable“C2” is wrapped around only second radial side 148 of driving pulley140, as shown in FIGS. 3-5.

In one embodiment, first cable “C1” includes two cables each having afirst end connected to driving pulley 140 at a common point and a secondend connected to first radial side 130 a of first driven pulley 122 aand second radial side 132 b of second driven pulley 122 b,respectively. Second cable “C2” may include two cables each having afirst end connected to driving pulley 140 at a common point and a secondend connected to first radial side 130 b of second driven pulley 122 band second radial side 132 a of first driven pulley 122 a, respectively.

In operation, motor (Motor 1 . . . n) is energized to rotate and, inturn, drive a letting out or winding-up or a rotation of cable “C.” Ascable “C” is actuated, cable “C” drives the rotation of driving pulley140 in one of a clockwise and counter-clockwise direction. A rotation ofdriving pulley 140 in a first direction, indicated by arrow “A1” shownin FIG. 3A, about second axis “X2,” rotates first and second drivenpulleys 122 a, 122 b via first cable “C1” about first axis “X1,” in adirection indicated by arrows “A2,” “A3” in FIG. 3A, respectively.During rotation of driving pulley 140 in the first direction, firstcable “C1” is in a tensioned condition (shown in FIG. 3A) and secondcable “C2” is in a slack condition. For example, as driving pulley 140is rotated in the first direction, intermediate portion 164 a of firstcable “C1” rotates with driving pulley 140 about second axis “X2.” Asintermediate portion 164 a of first cable “C1” rotates, first endportion 160 a of first cable “C1” is pulled towards driving pulley 140and, in turn, drives a rotation of first driven pulley 122 a in the samedirection as the direction in which driving pulley 140 is rotating.Second end portion 162 a of first cable “C1” is also pulled towardsdriving pulley 140 and, in turn, drives a rotation of second drivenpulley 122 b in an opposite direction as the direction in which drivingpulley 140 is rotating. In this way, jaws 102 a, 102 b, which areattached to driven pulleys 122 a, 122 b, respectively, are opened aboutfirst axis “X1.”

A rotation of driving pulley 140 in a second direction, indicated byarrow “B1” shown in FIG. 3A, rotates first and second driven pulleys 122a, 122 b via second cable “C2” about first axis “X1,” in a directionindicated by arrows “B2,” “B3” in FIG. 3A, respectively. During rotationof driving pulley 140 in the second direction, first cable “C1” is in aslack condition and second cable “C2” is in a tensioned condition (shownin FIG. 3A). For example, as driving pulley 140 is rotated in the seconddirection, intermediate portion 164 b of second cable “C2” rotates withdriving pulley 140 about second axis “X2.” As intermediate portion 164 bof second cable “C2” rotates, first end portion 160 b of second cable“C2” is pulled towards driving pulley 140 and, in turn, drives arotation of second driven pulley 122 b in an opposite direction as thedirection in which driving pulley 140 is rotating. Second end portion162 b of second cable “C2” is also pulled towards driving pulley 140and, in turn, drives a rotation of first driven pulley 122 a in the samedirection in which driving pulley 140 is rotating. In this way, jaws 102a, 102 b, which are attached to driven pulleys 122 a, 122 b,respectively, are closed about first axis “X1.”

In one embodiment, as shown in FIG. 6, an end effector 200, similar toend effector 100 described above with regard to FIGS. 2-5, is shown. Endeffector 200 includes a first jaw 202 a and a second jaw 202 b, similarto jaws 102 a, 102 b described above. First and second jaws 202 a, 202 bare each pivotable about a first axis (not shown). End effector 200further includes a pulley assembly 220, similar to pulley assembly 120described above. Pulley assembly 220 is disposed within end effector 200for actuating jaws 202 a, 202 b of end effector 200.

Pulley assembly 220 includes a first driven pulley 222 a, a seconddriven pulley 222 b, a driving pulley 240, a first cable “C3,” and asecond cable “C4,” similar to first driven pulley 122 a, second drivenpulley 122 b, driving pulley 140, first cable “C1,” and second cable“C2,” respectively, described above. In accordance with the presentembodiment, first cable “C3” and second cable “C4” may be in the form ofa cable loop or the like.

First driven pulley 222 a supports jaw 202 a and second driven pulley222 b supports jaw 202 b such that jaws 202 a, 202 b rotate with drivenpulleys 222 a, 222 b about the first axis. Driven pulleys 222 a, 222 bhave a circular configuration and each define a circumferential edge 226a, 226 b configured for disposal or receipt of first and second cables“C3,” “C4,” respectively.

Driving pulley 240 is spaced a lateral distance from first and seconddriven pulleys 222 a, 222 b. Cable “C,” connected to motor (Motor 1 . .. n), may be wrapped at least once around driving pulley 240, in themanner of a capstan so as to not interfere with first and second cables“C3,” “C4.” Driving pulley 240 has a circular configuration and definesa circumferential edge 242 configured for disposal or receipt of each ofcables “C3,” “C4.”

First cable “C3” is looped or wrapped about circumferential edge 242 ofdriving pulley 240 and circumferential edge 226 a of first driven pulley222 a such that, a first half 260 a and a second half 260 b of cable“C3” are in parallel relation to one another. Second cable “C4” islooped or wrapped about circumferential edge 242 of driving pulley 240and circumferential edge 226 b of second driven pulley 222 b such that,a first half 270 a and a second half 270 b of cable “C4” are in acriss-cross or figure-eight pattern.

In use, a rotation of driving pulley 240 via motor (Motor 1 . . . n) andcable “C” causes first and second driven pulleys 222 a, 222 b to rotate,via cables “C3,” “C4,” in opposing directions to open or close first andsecond jaws 202 a, 202 b, which are attached thereto.

It will be understood that various modifications may be made to theembodiments disclosed herein. For example, while the driven pulleysdisclosed herein have been shown and described as being connected to theproximal ends of the jaws, it is contemplated and within the scope ofthe present disclosure, for the driven pulleys to be operativelyconnected with the distal portion of the jaws. Therefore, the abovedescription should not be construed as limiting, but merely asexemplifications of various embodiments. Those skilled in the art willenvision other modifications within the scope and spirit of the claimsappended thereto.

What is claimed is:
 1. A method comprising: coupling a first cablesection of to a first radial side of a first driven pulley and to adriving pulley; coupling a second cable section to a second radial sideof the first driven pulley and to the driving pulley; coupling a thirdcable section to a first radial side of a second driven pulley and tothe driving pulley; coupling a fourth cable section to a second radialside of the second driven pulley and to the driving pulley, wherein eachof the first cable section, the second cable section, the third cablesection and the fourth cable section is a separate cable from eachother; changing a direction of rotation of the driving pulley from afirst direction to a second direction; and responsive to changing thedirection of rotation of the driving pulley, changing a direction ofrotation of each of the first driven pulley and the second drivenpulley, creating a tension in the first cable section and the thirdcable section, and alternating between opening and closing jaws of asurgical end effector.
 2. A method of actuating an end effector of asurgical tool of a robotic surgical system, comprising: rotating adriving pulley in the end effector in a first direction about a firstaxis to open a first jaw and a second jaw each being pivotable about asecond axis, the end effector including: a first driven pulley attachedto the first jaw and a second driven pulley attached to the second jaw,the first and second driven pulleys being rotatable about the secondaxis, each driven pulley including a first radial side and a secondradial side; a first cable having a first end portion, a second endportion, and an intermediate portion, the first end portion connected tothe first radial side of the first driven pulley, the second end portionconnected to the second radial side of the second driven pulley, and theintermediate portion connected to the driving pulley; and a second cablehaving a first end portion, a second end portion, and an intermediateportion, the first end portion connected to the first radial side of thesecond driven pulley, the second end portion connected to the secondradial side of the first driven pulley, and the intermediate portionconnected to the driving pulley; and rotating the driving pulley in asecond direction about the first axis to close the first and second jawsabout the second axis.
 3. The method as recited in claim 2, furthercomprising: rotating the first and the second driven pulleys via thefirst cable responsive to rotating the driving pulley in the firstdirection; and rotating the first and the second driven pulleys via thesecond cable responsive to rotating the driving pulley in the seconddirection.
 4. The method as recited in claim 3, further comprising:tensioning the first cable and slacking the second cable during rotationof the driving pulley in the first direction and the second cable is ina slack condition; and tensioning the second cable and slacking thefirst cable during rotation of the driving pulley in the seconddirection.
 5. The method as recited in claim 2, further comprisingconnecting the intermediate portions of the first and second cables to acommon point of the driving pulley.
 6. The method as recited in claim 2,further comprising crimping the intermediate portions of the first andsecond cables to the driving pulley.
 7. The method as recited in claim2, further comprising: positioning the first end portion of the firstcable parallel to the second end portion of the second cable; andcrossing the first end portion of the second cable and the second endportion of the first cable.
 8. The method as recited in claim 2, furthercomprising fixedly attaching a proximal end of the first jaw to acircumferential edge of the first drive pulley and a proximal end of thesecond jaw to a circumferential edge of the second drive pulley.
 9. Themethod as recited in claim 2, further comprising creating a toothedportion in the first and the second jaws.
 10. The method as recited inclaim 2, further comprising spacing the first axis a lateral distancefrom the second axis.
 11. The method as recited in claim 2, furthercomprising connecting the first and second cables to the driving pulleyat a location offset a radial distance from the second axis.
 12. Themethod as recited in claim 2, further comprising looping theintermediate portions of the first and second cables through an anchormember on the driving pulley.
 13. The method as recited in claim 2,further comprising attaching a hook to a circumferential edge of thedriving pulley.